Non-linear skid steering system for 4×4 UGV using fuzzy logic direct yaw moment control
نویسندگان
چکیده
منابع مشابه
Fuzzy Logic Based Autonomous Skid Steering
A two-layer fuzzy logic controller has been designed for 2-D autonomous navigation of a skid steering vehicle in an obstacle filled environment. The first layer of the fuzzy controller provides a model for multiple sonar sensor input fusion and it is composed of four individual controllers, each calculating a collision possibility in front, back, left and right directions of movement. The secon...
متن کاملFuzzy Logic Based Software Control Architecture for a Skid Steering Vehicle
A sensor-based software control architecture is proposed for autonomous navigation of the Real World Interface (currently iRobot) ATRV-mini skid steering vehicle. The architecture is superimposed over the existing ATRV-mini mobility software that navigates the robot. A two-layer fuzzy logic controller has been implemented: Inputs are the collision possibilities in front, back, left and right di...
متن کاملa new type-ii fuzzy logic based controller for non-linear dynamical systems with application to 3-psp parallel robot
abstract type-ii fuzzy logic has shown its superiority over traditional fuzzy logic when dealing with uncertainty. type-ii fuzzy logic controllers are however newer and more promising approaches that have been recently applied to various fields due to their significant contribution especially when the noise (as an important instance of uncertainty) emerges. during the design of type- i fuz...
15 صفحه اولDecoupling of an EV Active Steering and Direct Yaw Moment Control Systems
By considering a four-wheel-motor EV, the present paper addresses the EV stabilization using the advantages of electrical motorized wheels incorporation. The decoupling of the control of the active steering control (AFS) and the direct yaw moment control (DYC) as a way of controlling the vehicle’s body slip angle and its yaw rate simultaneously, also allows the stabilization of the lateral moti...
متن کاملSliding-mode Velocity and Yaw Control of a 4WD Skid-steering Mobile Robot
The subject of this paper is the design and implementation of a robust dynamic feedback controller, based on the dynamic model of the four-wheel skidsteering RobuFAST A robot, undergoing high-speed turns. The control inputs are respectively the linear velocity and the yaw angle. The main objective of this paper is to formulate a sliding mode controller, robust enough to obviate the knowledge of...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of Engineering Science and Military Technologies
سال: 2017
ISSN: 2357-0946
DOI: 10.21608/ejmtc.2017.449.1014